/**************************************************************************** * * Copyright (c) 2013-2020 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ #include "level_calibration.h" #include "calibration_messages.h" #include "calibration_routines.h" #include "commander_helper.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include using namespace time_literals; using namespace matrix; using math::radians; int do_level_calibration(orb_advert_t *mavlink_log_pub) { bool success = false; calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "level"); param_t roll_offset_handle = param_find("SENS_BOARD_X_OFF"); param_t pitch_offset_handle = param_find("SENS_BOARD_Y_OFF"); // get old values float roll_offset_current = 0.f; float pitch_offset_current = 0.f; param_get(roll_offset_handle, &roll_offset_current); param_get(pitch_offset_handle, &pitch_offset_current); const Dcmf board_rotation_offset{Eulerf{radians(roll_offset_current), radians(pitch_offset_current), 0.f}}; float roll_mean = 0.f; float pitch_mean = 0.f; unsigned counter = 0; bool had_motion = true; int num_retries = 0; uORB::SubscriptionBlocking att_sub{ORB_ID(vehicle_attitude)}; while (had_motion && num_retries++ < 50) { Vector2f min_angles{100.f, 100.f}; Vector2f max_angles{-100.f, -100.f}; roll_mean = 0.0f; pitch_mean = 0.0f; counter = 0; int last_progress_report = -100; static constexpr hrt_abstime calibration_duration = 500_ms; const hrt_abstime start = hrt_absolute_time(); while (hrt_elapsed_time(&start) < calibration_duration) { vehicle_attitude_s att{}; if (!att_sub.updateBlocking(att, 100000)) { // attitude estimator is not running calibration_log_critical(mavlink_log_pub, "attitude estimator not running - check system boot"); calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level"); goto out; } int progress = 100 * hrt_elapsed_time(&start) / calibration_duration; if (progress >= last_progress_report + 20) { calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, progress); last_progress_report = progress; } Eulerf att_euler{Quatf{att.q}}; // keep min + max angles for (int i = 0; i < 2; ++i) { if (att_euler(i) < min_angles(i)) { min_angles(i) = att_euler(i); } if (att_euler(i) > max_angles(i)) { max_angles(i) = att_euler(i); } } att_euler(2) = 0.f; // ignore yaw att_euler = Eulerf{board_rotation_offset *Dcmf{att_euler}}; // subtract existing board rotation roll_mean += att_euler.phi(); pitch_mean += att_euler.theta(); ++counter; } // motion detection: check that (max-min angle) is within a threshold. // The difference is typically <0.1 deg while at rest if (max_angles(0) - min_angles(0) < math::radians(0.5f) && max_angles(1) - min_angles(1) < math::radians(0.5f)) { had_motion = false; } } calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100); roll_mean /= counter; pitch_mean /= counter; if (had_motion) { calibration_log_critical(mavlink_log_pub, "motion during calibration"); } else if (fabsf(roll_mean) > 0.8f) { calibration_log_critical(mavlink_log_pub, "excess roll angle"); } else if (fabsf(pitch_mean) > 0.8f) { calibration_log_critical(mavlink_log_pub, "excess pitch angle"); } else { float roll_mean_degrees = math::degrees(roll_mean); float pitch_mean_degrees = math::degrees(pitch_mean); if (fabsf(roll_offset_current - roll_mean_degrees) > 0.1f) { PX4_INFO("Updating SENS_BOARD_X_OFF %.1f -> %.1f degrees", (double)roll_offset_current, (double)roll_mean_degrees); } if (fabsf(pitch_offset_current - pitch_mean_degrees) > 0.1f) { PX4_INFO("Updating SENS_BOARD_Y_OFF %.1f -> %.1f degrees", (double)pitch_offset_current, (double)pitch_mean_degrees); } param_set_no_notification(roll_offset_handle, &roll_mean_degrees); param_set_no_notification(pitch_offset_handle, &pitch_mean_degrees); param_notify_changes(); success = true; } out: if (success) { calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "level"); px4_usleep(600000); // give this message enough time to propagate return 0; } else { calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level"); px4_usleep(600000); // give this message enough time to propagate return 1; } }